Unverified Commit b0c194a0 authored by Tony Baltovski's avatar Tony Baltovski Committed by GitHub
Browse files

Merge pull request #93 from husky/plate_frames

More Frames
parents 5f1e46c0 649af8a6
......@@ -45,21 +45,23 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<child link="top_chassis_link" />
</joint>
<!-- Spawn user rails -->
<link name="user_rail_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/user_rail.dae" />
</geometry>
</visual>
</link>
<xacro:if value="$(optenv HUSKY_USER_RAIL_ENABLED true)">
<!-- Spawn user rails -->
<link name="user_rail_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/user_rail.dae" />
</geometry>
</visual>
</link>
<!-- Attach user rails to base link -->
<joint name="user_rail" type="fixed">
<origin xyz="0.272 0 0.245" rpy="0 0 0" />
<parent link="base_link" />
<child link="user_rail_link" />
</joint>
<!-- Attach user rails to base link -->
<joint name="user_rail" type="fixed">
<origin xyz="0.272 0 0.245" rpy="0 0 0" />
<parent link="base_link" />
<child link="user_rail_link" />
</joint>
</xacro:if>
<!-- Spawn front bumper link -->
<link name="front_bumper_link">
......@@ -138,6 +140,18 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.225" rpy="0 0 0"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_front_link"/>
<origin xyz="0.4125 0 0.00672" rpy="0 0 0"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_rear_link"/>
<origin xyz="-0.4125 0 0.00672" rpy="0 0 0"/>
</joint>
</xacro:if>
<xacro:unless value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
......@@ -161,15 +175,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.245" rpy="0 0 0"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_front_link"/>
<origin xyz="0.36367 0 0.00639" rpy="0 0 0"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_rear_link"/>
<origin xyz="-0.36633 0 0.00639" rpy="0 0 0"/>
</joint>
</xacro:unless>
<link name="top_plate_front_link"/>
<link name="top_plate_rear_link"/>
</xacro:if>
</xacro:macro>
......
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